From 76a32c50ef5af1932e29001785aa8123a6f76c93 Mon Sep 17 00:00:00 2001
From: MeshvaD <meshva03@gmail.com>
Date: Tue, 7 Nov 2023 23:53:12 -0500
Subject: [PATCH] costmap layers

---
 .../config/costmap_parameters.yaml            | 148 +++++++++++++++---
 .../config/sensor_parameters.yaml             |  46 +++---
 .../launch/gazebo.launch.py                   |  12 +-
 .../launch/nav.launch.py                      |   7 +-
 .../urdf/drivetrain.urdf.xacro                |   4 +-
 .../urdf/sensors.macro.xacro                  |  22 ++-
 6 files changed, 175 insertions(+), 64 deletions(-)

diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml
index cb57c242..53fb9415 100644
--- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml
+++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/costmap_parameters.yaml
@@ -1,10 +1,73 @@
 controller_server:
   ros__parameters:
+    use_sim_time: True
     controller_frequency: 20.0
     min_x_velocity_threshold: 0.001
     min_y_velocity_threshold: 0.5
     min_theta_velocity_threshold: 0.001
     failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: 0.0
+      min_vel_y: 0.0
+      max_vel_x: 0.26
+      max_vel_y: 0.0
+      max_vel_theta: 1.0
+      min_speed_xy: 0.0
+      max_speed_xy: 0.26
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 2.5
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
 
 planner_server:
   ros__parameters:
@@ -25,18 +88,18 @@ global_costmap:
       global_frame: map
       robot_base_frame: base_link
       use_sim_time: True
-      robot_radius: 0.22 # radius set and used, so no footprint points
+      robot_radius: 0.22 # should modify
       resolution: 0.05
-      plugins: ["static_layer", "voxel_layer", "inflation_layer", "obstacle_layer"]
+      plugins: ["static_layer", "inflation_layer", "obstacle_layer"]
       obstacle_layer:
         plugin: "nav2_costmap_2d::ObstacleLayer"
         enabled: True
-        observation_sources: scan
+        observation_sources: scan pointcloud1 pointcloud2
         footprint_clearing_enabled: true
         max_obstacle_height: 2.0
         combination_method: 1
         scan:
-          topic: /scan
+          topic: /lidar_controller/out
           obstacle_max_range: 2.5
           obstacle_min_range: 0.0
           raytrace_max_range: 3.0
@@ -47,20 +110,6 @@ global_costmap:
           marking: True
           data_type: "LaserScan"
           inf_is_valid: false
-      voxel_layer:
-        plugin: "nav2_costmap_2d::VoxelLayer"
-        enabled: True
-        footprint_clearing_enabled: true
-        max_obstacle_height: 2.0
-        publish_voxel_map: True
-        origin_z: 0.0
-        z_resolution: 0.05
-        z_voxels: 16
-        max_obstacle_height: 2.0
-        unknown_threshold: 15
-        mark_threshold: 0
-        observation_sources: pointcloud1, pointcloud2
-        combination_method: 1
         pointcloud1: 
           topic: /camera1_sensor/points
           clearing: True
@@ -91,7 +140,7 @@ local_costmap:
   local_costmap:
     ros__parameters:
       update_frequency: 5.0
-      publish_frequency: 2.0
+      publish_frequency: 100.0
       global_frame: base_link
       robot_base_frame: base_link
       use_sim_time: True
@@ -100,8 +149,69 @@ local_costmap:
       height: 3
       resolution: 0.05
 
+      plugins: ["static_layer", "inflation_layer", "obstacle_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan pointcloud1 pointcloud2
+        footprint_clearing_enabled: true
+        max_obstacle_height: 2.0
+        combination_method: 1
+        scan:
+          topic: /lidar_controller/out
+          data_type: "LaserScan"
+          sensor_frame: lidar1
+          marking: true     
+          clearing: true     
+          observation_persistence: 100.0
+        pointcloud1: 
+          topic: /camera1_sensor/points
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+          sensor_frame: camera1_virtual_link
+          marking: true     
+          clearing: true     
+          observation_persistence: 100.0
+        pointcloud2: 
+          topic: /camera2_sensor/points
+          clearing: True
+          marking: True
+          data_type: "PointCloud2"
+          sensor_frame: camera2_virtual_link
+          marking: true     
+          clearing: true     
+          observation_persistence: 100.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+        enabled: true
+        subscribe_to_updates: true
+        transform_tolerance: 0.1
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        enabled: true
+        inflation_radius: 0.55
+        cost_scaling_factor: 1.0
+        inflate_unknown: false
+        inflate_around_unknown: true
+
+map_saver:
+  ros__parameters:
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+
 map_server:
   ros__parameters:
     yaml_filename: "map.yaml"
     topic_name: "map"
     frame_id: "map"
+
+costmap_filter_info_server:
+  ros__parameters:
+    type: 1
+    filter_info_topic: "costmap_filter_info"
+    mask_topic: "filter_mask"
+    base: 0.0
+    multiplier: 0.25
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml
index 2f6e79cb..e7d73acc 100644
--- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml
+++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/config/sensor_parameters.yaml
@@ -23,29 +23,29 @@ depth_camera:
         near: 0.05
         far: 3
 
-  camera2:
-    dim:
-      length: 0.05
-      width: 0.05
-      height: 0.05
-    parent_link: chassis
-    offset:
-      x: -0.61
-      y: 0
-      z: 0
+  # camera2:
+  #   dim:
+  #     length: 0.05
+  #     width: 0.05
+  #     height: 0.05
+  #   parent_link: chassis
+  #   offset:
+  #     x: -0.61
+  #     y: 0
+  #     z: 0
 
-      r_rot: 0
-      p_rot: 0
-      y_rot: 3.14159265359
-    camera_properties:
-      horizontal_fov: 1.047198
-      image:
-        width: 640
-        height: 480
-        format: R8G8B8
-      clip:
-        near: 0.05
-        far: 3
+  #     r_rot: 0
+  #     p_rot: 0
+  #     y_rot: 3.14159265359
+  #   camera_properties:
+  #     horizontal_fov: 1.047198
+  #     image:
+  #       width: 640
+  #       height: 480
+  #       format: R8G8B8
+  #     clip:
+  #       near: 0.05
+  #       far: 3
 
 lidar:
   lidar1:
@@ -57,7 +57,7 @@ lidar:
     offset:
       x: 0.61
       y: 0
-      z: 0.1
+      z: 0.15
 
       r_rot: 0
       p_rot: 0
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py
index a8e71f59..57c97d84 100644
--- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py
+++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/gazebo.launch.py
@@ -1,7 +1,7 @@
 import os
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 
 
@@ -33,8 +33,6 @@ def generate_launch_description():
         'use_sim_time': True}] # add other parameters here if required
     )
 
-
-
     gazebo = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(
             get_package_share_directory('gazebo_ros'), 'launch'), '/gazebo.launch.py']),
@@ -46,13 +44,15 @@ def generate_launch_description():
                                 '-entity', 'my_bot'],
                     output='screen')
 
-
-
-
+    world_argument = DeclareLaunchArgument(
+        name='world',
+        default_value=world_path,
+        description='Full path to the world model file to load')
 
 
     # Run the node
     return LaunchDescription([
+        # world_argument,
         gazebo,
         node_robot_state_publisher,
         spawn_entity
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py
index 5fde1557..fbb95edb 100644
--- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py
+++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/launch/nav.launch.py
@@ -19,16 +19,11 @@ def generate_launch_description():
                        'planner_server',
                        'map_server']
     
-    map_server_config_path = os.path.join(
-        get_package_share_directory('uwrt_mars_rover_drivetrain_description'),
-        'config',
-        'map.yaml'
-    )
     nodes +=  [Node(
                 package='nav2_map_server',
                 executable='map_server',
                 output='screen',
-                parameters=[{'yaml_filename': map_server_config_path}])]
+                parameters=[controller_yaml])]
 
     nodes += [Node(
                 package='nav2_controller',
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro
index 897b1cdd..1651a87c 100644
--- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro
+++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/drivetrain.urdf.xacro
@@ -50,8 +50,8 @@
   <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera1']}" name="camera1"/>
   <xacro:default_depth_camera_frame camera_link_name="camera1" camera_props="${sensors_parameters['depth_camera']['camera1']['camera_properties']}"/>
   
-  <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera2']}" name="camera2"/>
-  <xacro:default_depth_camera_frame camera_link_name="camera2" camera_props="${sensors_parameters['depth_camera']['camera2']['camera_properties']}"/>
+  <!-- <xacro:generate_sensor_frame sensor_params="${sensors_parameters['depth_camera']['camera2']}" name="camera2"/>
+  <xacro:default_depth_camera_frame camera_link_name="camera2" camera_props="${sensors_parameters['depth_camera']['camera2']['camera_properties']}"/> -->
 
   <xacro:generate_sensor_frame sensor_params="${sensors_parameters['lidar']['lidar1']}"         name="lidar1"/>
   <xacro:default_lidar_frame lidar_link_name="lidar1" lidar_props="${sensors_parameters['lidar']['lidar1']['lidar_properties']}"/>
diff --git a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro
index 31da8895..73c4fd67 100644
--- a/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro
+++ b/uwrt_mars_rover_drivetrain/uwrt_mars_rover_drivetrain_description/urdf/sensors.macro.xacro
@@ -30,6 +30,19 @@
 
 
   <xacro:macro name="default_depth_camera_frame" params="camera_link_name camera_props">
+
+    <!-- need virtual joint due to axis misalignment -->
+    <link name="${camera_link_name}_virtual_link">
+      <visual>
+      </visual>
+    </link>
+
+    <joint type="fixed" name="${camera_link_name}_virtual_joint">
+      <origin rpy="${-pi/2} 0 ${-pi/2}" xyz="0 0 0"/>
+      <child link="${camera_link_name}_virtual_link"/>
+      <parent link="${camera_link_name}"/>
+    </joint>
+
     <gazebo reference="${camera_link_name}">
       <sensor name="${camera_link_name}_sensor" type="depth">
         <visualize>true</visualize>
@@ -48,17 +61,10 @@
         </camera>
         <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
           <cameraName>${camera_link_name}</cameraName>
-          <imageTopicName>${camera_link_name}_ir/image_raw</imageTopicName>
-          <cameraInfoTopicName>${camera_link_name}_ir/camera_info</cameraInfoTopicName>
-          <depthImageTopicName>${camera_link_name}_depth/image_raw</depthImageTopicName>
-          <depthImageCameraInfoTopicName>${camera_link_name}_depth/camera_info</depthImageCameraInfoTopicName>
-          <pointCloudTopicName>${camera_link_name}_depth/points</pointCloudTopicName>
-          <frameName>${camera_link_name}_optical_frame</frameName>
-
+          <frame_name>${camera_link_name}_virtual_link</frame_name>
           <baseline>0.2</baseline>
           <alwaysOn>true</alwaysOn>
           <updateRate>0.0</updateRate>
-          <frame_name>camera_depth_frame</frame_name>
           <pointCloudCutoff>0.5</pointCloudCutoff>
           <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
           <distortionK1>0</distortionK1>